Event-Based Fault-Tolerant Control for Wheel Driving Intelligent Vehicle System

This study investigates a fault-tolerant control scheme for the autonomous intelligent vehicle, which is actuated by four independent motors. The main purpose is to realize the trajectory tracking control, to avoid collision accidents, and to save communication resources. First, by using the event-triggered sampled output, the state, fault efficiency index, and disturbance information are acquired through a novel observer. The convergence performance of the proposed observer is proved theoretically. Subsequently, to achieve the control purpose of this study, an event-based adaptive sliding mode fault-tolerant control scheme is proposed based on the estimated information. On the one hand, two adaptive parameters are included in the controller to reduce the work of parameter adjustment; on the other hand, two-channel event trigger generators are introduced to reduce the transmission load. Additionally, the estimated disturbance is also integrated into the controller scheme to enhance tracking precision and chattering attenuation. Finally, two cases are given to verify the fault tolerance and good tracking abilities of the proposed approach.